ModelFactory.cpp

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#include "lvr2/io/AsciiIO.hpp"
#include "lvr2/io/PLYIO.hpp"
#include "lvr2/io/UosIO.hpp"
#include "lvr2/io/ObjIO.hpp"
#include "lvr2/io/LasIO.hpp"
#include "lvr2/io/HDF5IO.hpp"
#include "lvr2/io/BoctreeIO.hpp"
#include "lvr2/io/ModelFactory.hpp"
#include "lvr2/io/DatIO.hpp"
#include "lvr2/io/STLIO.hpp"
#include "lvr2/io/Timestamp.hpp"
#include "lvr2/io/Progress.hpp"
 
// PCL related includes
#ifdef LVR2_USE_PCL
#include "lvr2/io/PCDIO.hpp"
#endif
 
// RiVLib
#ifdef LVR2_USE_RIVLIB
#include "lvr2/io/RxpIO.hpp"
#endif
 
#include <boost/filesystem.hpp>
 
namespace lvr2
{
 
CoordinateTransform<float> ModelFactory::m_transform;
 
ModelPtr ModelFactory::readModel( std::string filename )
{
 
    ModelPtr m(new Model);
 
    // Check extension
    boost::filesystem::path selectedFile( filename );
    std::string extension = selectedFile.extension().string();
 
    // Try to parse given file
    BaseIO* io = 0;
    if(extension == ".ply")
    {
        io = new PLYIO;
    }
    else if(extension == ".pts" || extension == ".3d" || extension == ".xyz" || extension == ".txt")
    {
        io = new AsciiIO;
    }
#ifdef LVR2_USE_RIVLIB
    else if(extension == ".rxp")
    {
        io = new RxpIO;
    }
#endif
    else if (extension == ".obj")
    {
        io = new ObjIO;
    }
    else if (extension == ".las")
    {
        io = new LasIO;
    }
    else if (extension ==".dat")
    {
        io = new DatIO;
    }
    else if (extension ==".h5")
    {
        io = new HDF5IO;
    }
#ifdef LVR2_USE_PCL
    else if (extension == ".pcd")
    {
        io = new PCDIO;
    }
#endif /* LVR2_USE_PCL */
    else if (extension == "")
    {
        bool found_3d = false;
        bool found_boctree = false;
 
        // Check for supported data in directory.
        boost::filesystem::directory_iterator lastFile;
 
        for(boost::filesystem::directory_iterator it(filename); it != lastFile; it++ )
        {
            boost::filesystem::path p = it->path();
 
            // Check for 3d files
            if(p.extension().string() == ".3d")
            {
                // Check for naming convention "scanxxx.3d"
                int num = 0;
                if(sscanf(p.filename().string().c_str(), "scan%3d", &num))
                {
                    found_3d = true;
                }
            }
 
            // Check for .oct files
            if(p.extension().string() == ".oct")
            {
                // Check for naming convention "scanxxx.3d"
                int num = 0;
                if(sscanf(p.filename().string().c_str(), "scan%3d", &num))
                {
                    found_boctree = true;
                }
            }
 
 
        }
 
        // Check and create io
        if(!found_boctree && found_3d)
        {
            io = new UosIO;
        }
        else if(found_boctree && found_3d)
        {
            cout << timestamp << "Found 3d files and octrees. Loading octrees per default." << endl;
            io = new BoctreeIO;
        }
        else if(found_boctree && !found_3d)
        {
            io = new BoctreeIO;
        }
        else
        {
            cout << timestamp << "Given directory does not contain " << endl;
        }
    }
 
    // Return data model
    if( io )
    {
        m = io->read( filename );
 
        if( m_transform.transforms())
        {
            // Convert coordinates in model
            PointBufferPtr points = m->m_pointCloud;
            size_t n_points = points->numPoints();
            size_t n_normals = 0;
            size_t dummy;
 
            floatArr p = points->getPointArray();
            floatArr n = points->getFloatArray("normals", n_normals, dummy);
 
            // If normals are present every point should habe one
            if(n_normals)
            {
                assert(n_normals == n_points);
            }
 
            // Convert coordinates
            float point[3];
            float normal[3];
 
            for(size_t i = 0; i < n_points; i++)
            {
                // Re-order and scale point coordinates
                point[0] = p[3 * i + m_transform.x] * m_transform.sx;
                point[1] = p[3 * i + m_transform.y] * m_transform.sy;
                point[2] = p[3 * i + m_transform.z] * m_transform.sz;
 
                p[3 * i]         = point[0];
                p[3 * i + 1]    = point[1];
                p[3 * i + 2]    = point[2];
                if(n_normals)
                {
                    normal[0] = n[3 * i + m_transform.x] * m_transform.sx;
                    normal[1] = n[3 * i + m_transform.y] * m_transform.sy;
                    normal[2] = n[3 * i + m_transform.z] * m_transform.sz;
 
                    n[3 * i]         = normal[0];
                    n[3 * i + 1]    = normal[1];
                    n[3 * i + 2]    = normal[2];
                }
            }
        }
 
        delete io;
    }
 
    return m;
 
}
 
void ModelFactory::saveModel( ModelPtr m, std::string filename)
{
    // Get file exptension
    boost::filesystem::path selectedFile(filename);
    std::string extension = selectedFile.extension().string();
 
    BaseIO* io = 0;
 
    // Create suitable io
    if(extension == ".ply")
    {
        io = new PLYIO;
    }
    else if (extension == ".pts" || extension == ".3d" || extension == ".xyz" || extension == ".txt")
    {
        io = new AsciiIO;
    }
    else if ( extension == ".obj" )
    {
        io = new ObjIO;
    }
    else if (extension == ".stl")
    {
        io = new STLIO;
    }
    else if (extension == ".h5")
    {
        io = new HDF5IO;
    }
#ifdef LVR2_USE_PCL
    else if (extension == ".pcd")
    {
        io = new PCDIO;
    }
#endif
 
    // Save model
    if(io)
    {
        io->save( m, filename );
        delete io;
    }
    else
    {
        cout << timestamp << "File format " << extension
            << " is currently not supported." << endl;
    }
 
 
 
}
 
} // namespace lvr2